EP2421681B1 - Product gripper - Google Patents
Product gripper Download PDFInfo
- Publication number
- EP2421681B1 EP2421681B1 EP10721331.6A EP10721331A EP2421681B1 EP 2421681 B1 EP2421681 B1 EP 2421681B1 EP 10721331 A EP10721331 A EP 10721331A EP 2421681 B1 EP2421681 B1 EP 2421681B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- product
- accordance
- blades
- gripper
- stamp
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000004904 shortening Methods 0.000 claims description 41
- 238000004806 packaging method and process Methods 0.000 description 3
- 235000013351 cheese Nutrition 0.000 description 2
- 235000013305 food Nutrition 0.000 description 2
- 235000013580 sausages Nutrition 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000881 depressing effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001846 repelling effect Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
Definitions
- the invention relates to a product gripper for receiving a product comprising two blades and a drive means for moving the blades between a first position in which the blades on opposite sides of the male product are placed on a support for the male product, and a second position to move, in which the blades are at least partially under the male product.
- Such product grippers are known in principle and are used, for example, in the food industry to convert food products from a first conveying means to a second conveying means, to sort them or to place them in a packaging.
- the product grippers are mounted on the moving part of a robot.
- the products to be picked up may be individual pieces or slices of, for example, meat, sausage, cheese and the like, or portions composed of a plurality of such pieces or slices.
- the individual slices can be folded one or more times and optionally at least partially overlay one another.
- Such portions consisting of several folded slices are pushed together manually, ie shortened in their length, so that they can be inserted into shorter packages.
- the WO 2007/093774 A1 discloses a product gripper according to the preamble of claim 1, in which two linearly displaceable plates are provided for shortening a product to be picked up.
- the conveyor comprises a gripper, which receives the bag packages by means of two brackets and clamps using clamping cylinders in the brackets. Furthermore, a buckling strip presses from above on the bag package.
- the invention has for its object to provide a product gripper, which simplifies product handling.
- the invention is achieved by a product gripper with the features of claim 1.
- the product gripper thus fulfills a dual function in that, in addition to its original task of grasping a product, it also assumes the task of shortening or pushing together the product. Since the product gripper according to the invention not only grips but also compresses the product to be handled, for example a portion of a plurality of folded slices, the product to be handled no longer needs to be pushed together by hand. Instead, the product gripper can insert the picked up and simultaneously shortened product directly into a correspondingly provided packaging. As a result, a manual operation can be saved by the product gripper according to the invention, as a result of which the product handling or the product processing as a whole is not only more hygienic, but also easier and more automated and thus ultimately cheaper.
- the shortening means comprise two mutually spaced flaps which are each pivotable between a first, at least approximately horizontal position (rest position) and a second, substantially vertical position (active position) about a pivot axis, which is oriented substantially at right angles to the direction of movement of the airfoils ,
- the means for shortening the product so that it pushes the product together in more than one direction, for example in two mutually perpendicular directions.
- a particularly simple structural embodiment can be realized if the shortening means are designed such that they push the product together only in the direction of movement of the blades.
- the shortening means are arranged between the blade leaves.
- the shortening means are separate from the blades blades components that can be operated depending on or independent of the movement of the blades.
- the shortening means are arranged between a rest position in which they are spaced apart from a product to be picked up and an active layer in which they are in contact with a picked-up product engage and shorten this, are adjustable.
- a mechanism is provided by which the movement of the airfoils from their first position to their second position in an adjustment of the shortening means from its rest position is converted into its active position.
- the adjustment of the shortening means is thus coupled to the movement of the blades, so that no separate drive needs to be provided for the adjustment of the shortening means.
- the mechanism comprises rollers connected to the blades and inclined surfaces formed on the shortening means, on which the rollers can run.
- This mechanism is particularly suitable for the adjustment of flaps comprising shortening means.
- locking means for locking the shortening means in their rest position and / or their active position are provided.
- the locking means may comprise magnets, for example.
- a stamp is provided for depressing a picked-up product at a storage location.
- the stamp may serve to depress a received product into a package.
- the punch is movable between a raised position in which an underside of the punch facing the received product is spaced from the product, and a lowered position in which the punch underside is approximately at or above the level of a blade plane defined by the blades.
- the stroke of the punch can be greater than the maximum thickness of a product to be picked so that a product to be deposited can be effectively pressed into a package arranged below the blade plane.
- the punch is arranged between the shortening means.
- the expansion of the punch in the direction of movement of the blades preferably corresponds substantially to the distance of the shortening means in its active position.
- the shortening means form a channel in which the compressed product lies and over the substantially entire width of which the stamp acts on the compressed product, whereby a product to be deposited can be controlled and pressed into a package with a uniform pressure distribution.
- locking means for locking the shortening means may be provided in their active position.
- the shortening means locked in their active position ensures that a recorded product retains its shortened overall length when it is released.
- the product gripper preferably comprises a corresponding release mechanism.
- the release mechanism may comprise magnets provided on the stamper and on the shortening means, which are arranged and poled so that the magnets of the stamper and the magnets of the shortening means repel when the punch reaches its lowered position.
- the solution of the shortening agent from its active position takes place in this way automatically when placing a recorded product, especially when the product to be deposited is completely pushed into its packaging.
- the shortening means are brought in an advantageous embodiment by the collapse of the blades from its rest position to its active position, the reverse process, i. the adjustment of the shortening means from its active position to its rest position so independent of the movement of the blades and coupled instead to the achievement of the lowered position by the stamp.
- the product gripper shown in the figures has a frame structure 10, which comprises two side plates 12 spaced apart from one another and extending substantially parallel to one another, which are connected to one another in the region of their outer ends by two transverse strips 14 and in a central upper region by a transverse web 16.
- a frame structure 10 which comprises two side plates 12 spaced apart from one another and extending substantially parallel to one another, which are connected to one another in the region of their outer ends by two transverse strips 14 and in a central upper region by a transverse web 16.
- an adapter 17 is mounted, which allows the mounting of the product gripper on a robot arm.
- two guide rods 18 are fixed, which extend to each other at a distance parallel to the side plates 12.
- the guide rods 18 serve to guide two blades 20.
- Each blade 20 comprises an airfoil 22, which is mounted by means of a blade holder 24 displaceable on the guide rods 18.
- each blade 20 is associated with an actuating cylinder 26, for example pneumatically or hydraulically operable, which is arranged above the guide rods 18 and has a piston 28 movable parallel to the guide rods 18 and in the region of its free end is connected to the associated blade holder 24.
- the actuating cylinders 26 are supported by the frame structure 10.
- the blades 20 can be placed on a support 30 between a first position, in which the blades 22 have a maximum distance from each other and on opposite sides of a male product, for example a portion of folded sausage, ham or cheese slices can be placed on the product to be absorbed ( Fig. 2 ) and a second position in which the blades 20 are at a minimum distance from one another and the blades 22 are located at least partially below the product to be picked up ( Fig. 4 ).
- a male product for example a portion of folded sausage, ham or cheese slices
- the flaps are each between a first, at least approximately horizontal position ( Fig. 2 ) and a second, substantially vertical position ( Fig. 4 ) pivotable.
- magnets are embedded in the flaps 32, which interact attractively with embedded in the cross member 34 magnet.
- the flaps 32 In the region of their free ends, the flaps 32 have blade-side inclined surfaces 36.
- rollers 38 Arranged on the blade blades 24 are rollers 38 which are oriented transversely to the direction of movement of the blades 20 such that the rollers 38 run onto the inclined surfaces 36 of the flaps 32 in their first position when the blades 20 move together ( Fig. 3 ) and thereby bring the flaps 32 into their second position ( Fig. 4 ).
- the length of the flaps 32 is selected so that the free ends of the flaps 32 in the second position of the flaps 32 at least approximately reach as far as the blades 22.
- the flaps 32 when pivoted to the second position, consequently engage and push together the product to be picked up, which shortens the length of the product seen in the direction of movement of the blades 20.
- the width of the flaps 32 i. their dimension seen transversely to the direction of movement of the blades 20, at least approximately corresponds to the width of the blades 22nd
- a plunger 40 is arranged, which extends in its second position located flaps 32 substantially over the entire distance between the flaps 32.
- the width of the punch 40 also corresponds at least approximately to the width of the blades 22.
- the punch 40 By means of a cylinder, not shown in the figures, for example, pneumatically or hydraulically actuated, the punch 40 between a raised position ( Fig. 1 to 5 ) and a lowered position ( Fig. 6 ) move.
- the punch 40 is attached by means of attached thereto and substantially perpendicular to the guide rods 18 extending guide rods 42 which extend through mounted on the outer sides of the side plates 12 guide members 44, guided.
- the stroke of the punch 40 is selected so that a blade leaves 22 facing bottom 46 of the punch 40 is spaced in the raised state of the punch 40 to the top of a recorded product, while the punch bottom 46 in the lowered state of the punch 40 slightly lower than a through the blades 22 defined blade plane 48 is located.
- the product gripper is lowered to a male product until the blades 22 on opposite sides of the product on the product support 30th put on ( Fig. 2 ).
- the blades 22 are now moved towards each other and pushed under the male product.
- the rollers 38 of the blades 20 run on the inclined surfaces 36 of the flaps 32, whereby the flaps 32 are folded down, ie pivoted into its vertical second position, thereby pushing together the male product in the direction of movement of the blades 20, ie shorten its length ( 3 and 4 ).
- the recorded product is transported from its receiving location to a storage location.
- the recorded product is fixed by the vertically placed flaps 32, so that it can not slip from the blades 22.
Description
Die Erfindung betrifft einen Produktgreifer zum Aufnehmen eines Produkts, welcher zwei Schaufelblätter und ein Antriebsmittel umfasst, um die Schaufelblätter zwischen einer ersten Position, in welcher die Schaufelblätter auf gegenüberliegenden Seiten des aufzunehmenden Produkts auf eine Auflage für das aufzunehmende Produkt aufsetzbar sind, und einer zweiten Position zu bewegen, in welcher sich die Schaufelblätter zumindest teilweise unter dem aufzunehmenden Produkt befinden.The invention relates to a product gripper for receiving a product comprising two blades and a drive means for moving the blades between a first position in which the blades on opposite sides of the male product are placed on a support for the male product, and a second position to move, in which the blades are at least partially under the male product.
Derartige Produktgreifer sind grundsätzlich bekannt und kommen beispielsweise in der Lebensmittelindustrie zum Einsatz, um Lebensmittelprodukte von einem ersten Fördermittel auf ein zweites Fördermittel umzusetzen, zu sortieren oder in eine Verpackung einzubringen. Typischerweise sind die Produktgreifer an dem beweglichen Teil eines Roboters montiert.Such product grippers are known in principle and are used, for example, in the food industry to convert food products from a first conveying means to a second conveying means, to sort them or to place them in a packaging. Typically, the product grippers are mounted on the moving part of a robot.
Bei den aufzunehmenden Produkten kann es sich um einzelne Stücke oder Scheiben von beispielsweise Fleisch, Wurst, Käse und dergleichen, oder um Portionen handeln, die sich aus mehreren solcher Stücke bzw. Scheiben zusammensetzen. Bei einer mehrere Scheiben umfassenden Portion können die einzelnen Scheiben ein- oder mehrfach gefaltet sein und gegebenenfalls zumindest teilweise übereinander liegen. Üblicherweise werden derartige aus mehreren gefalteten Scheiben bestehende Portionen von Hand zusammengeschoben, d.h. bezüglich ihrer Länge verkürzt, damit sie in kürzere Verpackungen eingelegt werden können.The products to be picked up may be individual pieces or slices of, for example, meat, sausage, cheese and the like, or portions composed of a plurality of such pieces or slices. In the case of a portion comprising several slices, the individual slices can be folded one or more times and optionally at least partially overlay one another. Usually such portions consisting of several folded slices are pushed together manually, ie shortened in their length, so that they can be inserted into shorter packages.
Die
In der
Der Erfindung liegt die Aufgabe zugrunde, einen Produktgreifer zu schaffen, welcher das Produkthandling vereinfacht.The invention has for its object to provide a product gripper, which simplifies product handling.
Die Erfindung wird durch einen Produktgreifer mit den Merkmalen des Anspruchs 1 gelöst.The invention is achieved by a product gripper with the features of claim 1.
Erfindungsgemäß erfüllt der Produktgreifer also eine Doppelfunktion, indem er zusätzlich zu seiner originären Aufgabe des Greifens eines Produkts außerdem die Aufgabe der Verkürzung bzw. des Zusammenschiebens des Produkts übernimmt. Da der erfindungsgemäße Produktgreifer das zu handhabende Produkt, beispielsweise eine Portion aus mehreren gefalteten Scheiben, nicht nur greift, sondern auch komprimiert, braucht das zu handhabende Produkt nicht mehr von Hand zusammengeschoben werden. Stattdessen kann der Produktgreifer das aufgegriffene und gleichzeitig verkürzte Produkt direkt in eine entsprechend vorgesehene Verpackung einlegen. Im Ergebnis lässt sich durch den erfindungsgemäßen Produktgreifer also ein manueller Arbeitsgang einsparen, wodurch das Produkthandling bzw. die Produktverarbeitung insgesamt nicht nur hygienischer, sondern auch einfacher und automatisierter und somit letztlich kostengünstiger wird.According to the invention, the product gripper thus fulfills a dual function in that, in addition to its original task of grasping a product, it also assumes the task of shortening or pushing together the product. Since the product gripper according to the invention not only grips but also compresses the product to be handled, for example a portion of a plurality of folded slices, the product to be handled no longer needs to be pushed together by hand. Instead, the product gripper can insert the picked up and simultaneously shortened product directly into a correspondingly provided packaging. As a result, a manual operation can be saved by the product gripper according to the invention, as a result of which the product handling or the product processing as a whole is not only more hygienic, but also easier and more automated and thus ultimately cheaper.
Erfindungsgemäß umfassen die Verkürzungsmittel zwei zueinander beabstandete Klappen, die jeweils zwischen einer ersten, zumindest annähernd horizontalen Lage (Ruhelage) und einer zweiten, im Wesentlichen vertikalen Lage (Aktivlage) um eine Schwenkachse verschwenkbar sind, welche im Wesentlichen rechtwinklig zu der Bewegungsrichtung der Schaufelblätter orientiert ist.According to the invention, the shortening means comprise two mutually spaced flaps which are each pivotable between a first, at least approximately horizontal position (rest position) and a second, substantially vertical position (active position) about a pivot axis, which is oriented substantially at right angles to the direction of movement of the airfoils ,
Vorteilhafte Ausbildungen der Erfindung sind den Unteransprüchen, der Beschreibung und der Zeichnung zu entnehmen.Advantageous embodiments of the invention are described in the dependent claims, the description and the drawings.
Grundsätzlich ist es denkbar, die Mittel zum Verkürzen des Produkts so auszubilden, dass es das Produkt in mehr als einer Richtung, beispielsweise in zwei zueinander rechtwinkligen Richtungen, zusammenschiebt. Eine besonders einfache bauliche Ausführungsform lässt sich realisieren, wenn die Verkürzungsmittel so ausgebildet sind, dass sie das Produkt lediglich in der Bewegungsrichtung der Schaufelblätter gesehen zusammenschieben.In principle, it is conceivable to design the means for shortening the product so that it pushes the product together in more than one direction, for example in two mutually perpendicular directions. A particularly simple structural embodiment can be realized if the shortening means are designed such that they push the product together only in the direction of movement of the blades.
Gemäß einer bevorzugten Ausführungsform sind die Verkürzungsmittel zwischen den Schaufelblättern angeordnet. Es handelt sich bei den Verkürzungsmitteln also um von den Schaufelblättern separate Bauteile, die abhängig oder unabhängig von der Bewegung der Schaufelblätter betätigt werden können.According to a preferred embodiment, the shortening means are arranged between the blade leaves. Thus, the shortening means are separate from the blades blades components that can be operated depending on or independent of the movement of the blades.
Alternativ dazu ist aber auch eine Ausführungsform denkbar, bei welcher ein aufzunehmendes Produkt durch die Schaufelblätter selbst bzw. durch Halter für die Schaufelblätter zusammengeschoben wird. In diesem Fall ist die Verkürzung des Produkts also jedenfalls an die Bewegung der Schaufelblätter gekoppelt.Alternatively, however, an embodiment is conceivable in which a male product is pushed together by the blades themselves or by holders for the blades. In this case is the shortening of the product so coupled in any case to the movement of the blades.
Um zu verhindern, dass die Verkürzungsmittel beim Aufnehmen eines Produkts mit diesem ungewollt in Eingriff geraten, ist es vorteilhaft, wenn die Verkürzungsmittel zwischen einer Ruhelage, in welcher sie zu einem aufzunehmenden Produkt beabstandet sind, und einer Aktivlage, in welcher sie mit einem aufgenommenen Produkt in Eingriff stehen und dieses verkürzen, verstellbar sind.In order to prevent the shortening means from becoming inadvertently engaged with a product when it is being picked up, it is advantageous if the shortening means are arranged between a rest position in which they are spaced apart from a product to be picked up and an active layer in which they are in contact with a picked-up product engage and shorten this, are adjustable.
Gemäß einer bevorzugten Ausführungsform ist ein Mechanismus vorgesehen, durch welchen die Bewegung der Schaufelblätter aus ihrer ersten Position in ihre zweite Position in eine Verstellung der Verkürzungsmittel aus ihrer Ruhelage in ihre Aktivlage umsetzbar ist. Durch den Mechanismus ist die Verstellung der Verkürzungsmittel also an die Bewegung der Schaufelblätter gekoppelt, so dass kein separater Antrieb für die Verstellung der Verkürzungsmittel vorgesehen zu werden braucht.According to a preferred embodiment, a mechanism is provided by which the movement of the airfoils from their first position to their second position in an adjustment of the shortening means from its rest position is converted into its active position. By the mechanism, the adjustment of the shortening means is thus coupled to the movement of the blades, so that no separate drive needs to be provided for the adjustment of the shortening means.
Gemäß einer besonders einfachen baulichen Ausführungsform umfasst der Mechanismus mit den Schaufelblättern verbundene Rollen und an den Verkürzungsmitteln ausgebildete Schrägflächen, auf welche die Rollen auflaufen können. Dieser Mechanismus eignet sich insbesondere für die Verstellung von Klappen umfassenden Verkürzungsmitteln.According to a particularly simple structural embodiment, the mechanism comprises rollers connected to the blades and inclined surfaces formed on the shortening means, on which the rollers can run. This mechanism is particularly suitable for the adjustment of flaps comprising shortening means.
Vorteilhafterweise sind Arretiermittel zur Arretierung der Verkürzungsmittel in ihrer Ruhelage und/oder ihrer Aktivlage vorgesehen. Die Arretiermittel können beispielsweise Magnete umfassen.Advantageously, locking means for locking the shortening means in their rest position and / or their active position are provided. The locking means may comprise magnets, for example.
Gemäß einer weiteren Ausführungsform ist ein Stempel zum Niederdrücken eines aufgenommenen Produkts an einem Ablageort vorgesehen.According to another embodiment, a stamp is provided for depressing a picked-up product at a storage location.
Beispielsweise kann der Stempel dazu dienen, ein aufgenommenes Produkt in eine Verpackung niederzudrücken.For example, the stamp may serve to depress a received product into a package.
Bevorzugt ist der Stempel zwischen einer angehobenen Lage, in welcher eine dem aufgenommenen Produkt zugewandte Unterseite des Stempels zu dem Produkt beabstandet ist, und einer abgesenkten Lage bewegbar, in welcher die Stempelunterseite etwa auf der Höhe einer durch die Schaufelblätter definierten Schaufelblattebene oder darunter liegt. Der Hub des Stempels kann mit anderen Worten größer als die maximale Dicke eines aufzunehmenden Produkts sein, so dass sich ein abzulegendes Produkt wirksam in eine unter der Schaufelblattebene angeordnete Verpackung hineindrücken lässt.Preferably, the punch is movable between a raised position in which an underside of the punch facing the received product is spaced from the product, and a lowered position in which the punch underside is approximately at or above the level of a blade plane defined by the blades. In other words, the stroke of the punch can be greater than the maximum thickness of a product to be picked so that a product to be deposited can be effectively pressed into a package arranged below the blade plane.
Vorteilhafterweise ist der Stempel zwischen den Verkürzungsmitteln angeordnet. Dabei entspricht die Ausdehnung des Stempels in Bewegungsrichtung der Schaufelblätter gesehen bevorzugt im Wesentlichen dem Abstand der Verkürzungsmittel in ihrer Aktivlage. Die Verkürzungsmittel bilden mit anderen Worten einen Kanal, in dem das komprimierte Produkt liegt und über dessen im Wesentlichen gesamte Breite der Stempel auf das komprimierte Produkt wirkt, wodurch ein abzulegendes Produkt kontrolliert und mit einer gleichmäßigen Druckverteilung in eine Verpackung hineingedrückt werden kann.Advantageously, the punch is arranged between the shortening means. In this case, the expansion of the punch in the direction of movement of the blades preferably corresponds substantially to the distance of the shortening means in its active position. In other words, the shortening means form a channel in which the compressed product lies and over the substantially entire width of which the stamp acts on the compressed product, whereby a product to be deposited can be controlled and pressed into a package with a uniform pressure distribution.
Wie bereits erwähnt, können Arretiermittel zur Arretierung der Verkürzungsmittel in ihrer Aktivlage vorgesehen sein. Durch die in ihrer Aktivlage arretierten Verkürzungsmittel ist sichergestellt, dass ein aufgenommenes Produkt bei seiner Freigabe seine verkürzte Gesamtlänge beibehält.As already mentioned, locking means for locking the shortening means may be provided in their active position. The shortening means locked in their active position ensures that a recorded product retains its shortened overall length when it is released.
Um die Verkürzungsmittel aus ihrer Aktivlage lösen zu können, umfasst der Produktgreifer vorzugsweise einen entsprechenden Lösemechanismus. Der Lösemechanismus kann an dem Stempel und an den Verkürzungsmitteln vorgesehene Magnete umfassen, die so angeordnet und gepolt sind, dass sich die Magnete des Stempels und die Magnete der Verkürzungsmittel abstoßen, wenn der Stempel seine abgesenkte Lage erreicht. Die Lösung der Verkürzungsmittel aus ihrer Aktivlage erfolgt auf diese Weise selbsttätig beim Ablegen eines aufgenommenen Produkts, insbesondere dann, wenn das abzulegende Produkt vollständig in seine Verpackung hineingedrückt ist.In order to be able to release the shortening agent from its active position, the product gripper preferably comprises a corresponding release mechanism. The release mechanism may comprise magnets provided on the stamper and on the shortening means, which are arranged and poled so that the magnets of the stamper and the magnets of the shortening means repel when the punch reaches its lowered position. The solution of the shortening agent from its active position takes place in this way automatically when placing a recorded product, especially when the product to be deposited is completely pushed into its packaging.
Während die Verkürzungsmittel gemäß einer vorteilhaften Ausführungsform durch das Zusammenfahren der Schaufelblätter aus ihrer Ruhelage in ihre Aktivlage gebracht werden, ist der umgekehrte Vorgang, d.h. die Verstellung der Verkürzungsmittel aus ihrer Aktivlage in ihre Ruhelage also von der Bewegung der Schaufelblätter unabhängig und stattdessen an das Erreichen der abgesenkten Lage durch den Stempel gekoppelt.While the shortening means are brought in an advantageous embodiment by the collapse of the blades from its rest position to its active position, the reverse process, i. the adjustment of the shortening means from its active position to its rest position so independent of the movement of the blades and coupled instead to the achievement of the lowered position by the stamp.
Nachfolgend wird die Erfindung rein beispielhaft anhand einer vorteilhaften Ausführungsform unter Bezugnahme auf die beigefügte Zeichnung beschrieben. Es zeigen:
- Fig. 1
- eine perspektivische Ansicht eines erfindungsgemäßen Produktgreifers mit offenem Schaufeln von oben;
- Fig. 2
- eine Seitenansicht des Produktgreifers von
Fig. 1 ; - Fig. 3
- eine Seitenansicht des Produktgreifers von
Fig. 1 mit halb geschlossenen Schaufeln; - Fig. 4
- eine Seitenansicht des Produktgreifers von
Fig. 1 mit vollständig geschlossenen Schaufeln; - Fig. 5
- eine Seitenansicht des Produktgreifers von
Fig. 1 mit offenen Schaufeln und heruntergeklappten Verkürzungsmitteln; und - Fig. 6
- eine Seitenansicht des Produktgreifers von
Fig. 1 mit offenen Schaufeln und abgesenktem Stempel.
- Fig. 1
- a perspective view of an open-product product gripper according to the invention from above;
- Fig. 2
- a side view of the product gripper of
Fig. 1 ; - Fig. 3
- a side view of the product gripper of
Fig. 1 with half-closed blades; - Fig. 4
- a side view of the product gripper of
Fig. 1 with completely closed blades; - Fig. 5
- a side view of the product gripper of
Fig. 1 with open blades and folded down shortening means; and - Fig. 6
- a side view of the product gripper of
Fig. 1 with open blades and lowered punch.
Der in den Figuren dargestellte Produktgreifer besitzt eine Rahmenstruktur 10, welche zwei zueinander beabstandete und sich im Wesentlichen parallel zueinander erstreckende Seitenbleche 12 umfasst, die im Bereich ihrer äußeren Enden durch zwei Querleisten 14 und in einem mittleren oberen Bereich durch einen Quersteg 16 miteinander verbunden sind. An dem Quersteg 16 ist ein Adapter 17 angebracht, welcher die Montage des Produktgreifers an einem Roboterarm ermöglicht.The product gripper shown in the figures has a
An den Querleisten 14 sind zwei Führungsstangen 18 befestigt, die sich zueinander beabstandet parallel zu den Seitenblechen 12 erstrecken. Die Führungsstangen 18 dienen zur Führung zweier Schaufeln 20.On the
Jede Schaufel 20 umfasst ein Schaufelblatt 22, welches mittels eines Schaufelblatthalters 24 verschiebbar an den Führungsstangen 18 gelagert ist.Each
Zur Verschiebung der Schaufeln 20 entlang den Führungsstangen 18 ist jeder Schaufel 20 ein, beispielsweise pneumatisch oder hydraulisch betätigbarer, Betätigungszylinder 26 zugeordnet, welcher oberhalb der Führungsstangen 18 angeordnet ist und einen parallel zu den Führungsstangen 18 bewegbaren Kolben 28 besitzt, der im Bereich seines freien Endes mit dem zugeordneten Schaufelblatthalter 24 verbunden ist. Die Betätigungszylinder 26 werden von der Rahmenstruktur 10 getragen.For displacing the
Es versteht sich, dass grundsätzlich auch nur ein Betätigungszylinder oder ein elektrischer Antrieb zur Verschiebung der Schaufeln 20 vorgesehen sein kann.It is understood that in principle only one actuating cylinder or an electric drive for displacing the
Mit Hilfe der Betätigungszylinder 26 lassen sich die Schaufeln 20 zwischen einer ersten Position, in welcher die Schaufelblätter 22 einen maximalen Abstand zueinander aufweisen und auf gegenüberliegenden Seiten eines aufzunehmenden Produkts, beispielsweise einer Portion von gefalteten Wurst-, Schinken- oder Käsescheiben, auf eine Auflage 30 für das aufzunehmende Produkt aufsetzbar sind (
Um die Länge eines aufzunehmenden Produkts in Bewegungsrichtung der Schaufeln 20 gesehen zu verkürzen, d.h. das aufzunehmende Produkt in besagter Richtung zu komprimieren, sind zwei zwischen den Schaufeln 20 angeordnete Klappen 32 an der Rahmenstruktur 10, genauer gesagt an jeweiligen sich zwischen den Seitenblechen 12 erstreckenden und an diesen befestigten Querträgern 34, verschwenkbar gelagert, wobei sich die entsprechenden Schwenkachsen rechtwinklig zu den Führungsstangen 18 und somit zu der Bewegungsrichtung der Schaufeln 20 erstrecken.In order to shorten the length of a product to be picked up in the direction of movement of the
Die Klappen sind jeweils zwischen einer ersten, zumindest annähernd horizontalen Lage (
Im Bereich ihrer freien Enden weisen die Klappen 32 schaufelseitige Schrägflächen 36 auf. An den Schaufelblatthaltern 24 sind quer zur Bewegungsrichtung der Schaufeln 20 orientierte Rollen 38 derart angeordnet, dass die Rollen 38 beim Zusammenfahren der Schaufeln 20 auf die Schrägflächen 36 der in ihrer ersten Lage befindlichen Klappen 32 auflaufen (
Die Länge der Klappen 32 ist so gewählt, dass die freien Enden der Klappen 32 in der zweiten Lage der Klappen 32 zumindest annähernd bis an die Schaufelblätter 22 heranreichen. Die Klappen 32 geraten bei ihrer Verschwenkung in die zweite Lage folglich mit dem aufzunehmenden Produkt in Eingriff und schieben dieses zusammen, wodurch die Länge des Produkts in Bewegungsrichtung der Schaufeln 20 gesehen verkürzt wird. Die Breite der Klappen 32, d.h. ihre Abmessung quer zur Bewegungsrichtung der Schaufeln 20 gesehen, entspricht zumindest annähernd der Breite der Schaufelblätter 22.The length of the
Zwischen den Klappen 32 ist ein Stempel 40 angeordnet, der sich bei in ihrer zweiten Lage befindlichen Klappen 32 im Wesentlichen über den gesamten Abstand zwischen den Klappen 32 erstreckt. Die Breite des Stempels 40 entspricht ebenfalls zumindest annähernd der Breite der Schaufelblätter 22.Between the
Mittels eines in den Figuren nicht dargestellten, beispielsweise pneumatisch oder hydraulisch betätigbaren, Zylinders lässt sich der Stempel 40 zwischen einer angehobenen Lage (
Der Hub des Stempels 40 ist so gewählt, dass eine den Schaufelblättern 22 zugewandte Unterseite 46 des Stempels 40 im angehobenen Zustand des Stempels 40 zu der Oberseite eines aufgenommenen Produkts beabstandet ist, während die Stempelunterseite 46 im abgesenkten Zustand des Stempels 40 etwas tiefer als eine durch die Schaufelblätter 22 definierte Schaufelblattebene 48 liegt.The stroke of the
Wie in
Nachfolgend wird die Funktionsweise des Produktgreifers erläutert:The following explains how the product gripper works:
Ausgehend von dem offenen Zustand des Produktgreifers, in welchem die Schaufeln 20 sich in ihrer ersten Position befinden, d.h. also einen maximalen Abstand zueinander aufweisen, wird der Produktgreifer auf ein aufzunehmendes Produkt abgesenkt, bis die Schaufelblätter 22 auf gegenüberliegenden Seiten des Produkts auf der Produktauflage 30 aufsetzen (
Durch eine entsprechende Betätigung der Betätigungszylinder 26 werden die Schaufelblätter 22 nun aufeinander zu bewegt und unter das aufzunehmende Produkt geschoben. Hierbei laufen die Rollen 38 der Schaufeln 20 auf die Schrägflächen 36 der Klappen 32 auf, wodurch die Klappen 32 heruntergeklappt, d.h. in ihre vertikale zweite Lage verschwenkt werden, und dabei das aufzunehmende Produkt in der Bewegungsrichtung der Schaufeln 20 zusammenschieben, d.h. also dessen Länge verkürzen (
In diesem Zustand des Produktgreifers wird das aufgenommene Produkt von seinem Aufnahmeort zu einem Ablageort transportiert. Dabei wird das aufgenommene Produkt durch die vertikal gestellten Klappen 32 fixiert, so dass es nicht von den Schaufelblättern 22 rutschen kann.In this state of the product gripper, the recorded product is transported from its receiving location to a storage location. In this case, the recorded product is fixed by the vertically placed flaps 32, so that it can not slip from the
An dem Ablageort wird der Produktgreifer abgesenkt, und die Schaufeln 20 werden durch die Betätigungszylinder 26 wieder auseinander gefahren, d.h. geöffnet (
Abschließend wird der Stempel 40 heruntergefahren, um das Produkt in eine Verpackung hineinzudrücken (
Claims (13)
- A product gripper for picking up a product, comprising two spade blades (22) and
a drive means (26) to move the spade blades (22) between a first position, in which the spade blades (22) can be placed onto a support for the product to be picked up at oppositely disposed sides of the product to be picked up, and a second position in which the spade blades (22) are located at least partly beneath the product to be picked up; and
means (32) for shortening the product in at least one direction,
characterized in that
the shortening means include two mutually spaced apart flaps (32) which are each pivotable about a pivot axis between a first, at least approximately horizontal position and a second, substantially vertical position, said pivot axis being substantially orientated at a right angle to the direction of movement of the spade blades (22). - A product gripper in accordance with claim 1,
characterized in that
the shortening means (32) are formed so that they shorten the product viewed in the direction of movement of the spade blades (22). - A product gripper in accordance with claim 1 or claim 2,
characterized in that
the shortening means (32) are arranged between the spade blades (22). - A product gripper in accordance with any one of the preceding claims,
characterized in that
the shortening means (32) are adjustable between a position of rest in which they are out of engagement with a product to be picked up and an active position in which they are in engagement with a picked-up product and shorten it. - A product gripper in accordance with any one of the preceding claims,
characterized in that
a mechanism (36, 38) is provided by which the movement of the spade blades (22) from their first position into their second position can be converted into an adjustment of the shortening means (32) from their position of rest into their active position. - A product gripper in accordance with claim 5,
characterized in that
the mechanism includes rollers (38) connected to the spade blades (22) and sloped surfaces (36) which are formed at the shortening means (32) and onto which the rollers (38) can run. - A product gripper in accordance with any one of the claims 4 to 6,
characterized in that
locking means are provided for locking the shortening means (32) in their position of rest and/or in their active position. - A product gripper in accordance with claim 7,
characterized in that
the locking means include magnets. - A product gripper in accordance with claim 7 or claim 8,
characterized by
a release mechanism for releasing the locking of the shortening means (32) in their active position. - A product gripper in accordance with any one of the preceding claims,
characterized by
a stamp (40) for pressing down a picked-up product at a placement location. - A product gripper in accordance with claim 10,
characterized in that
the stamp (40) is movable between a raised position in which a lower side (46) of the stamp (40) facing the picked-up product is spaced apart from the product and a lowered position in which the lower side (46) of the stamp lies approximately at the level of a spade blade plane defined by the spade blades (22) or beneath said plane. - A product gripper in accordance with claim 10 or claim 11,
characterized in that
the stamp (40) is arranged between the shortening means (32), with the extent of the stamp (40) viewed in the direction of movement of the spade blades (22) preferably substantially corresponding to the spacing of the shortening means (32) in their active position. - A product gripper in accordance with claim 9 and any one of the claims 10 to 12,
characterized in that
the release mechanism includes magnets (50, 52) which are provided at the shortening means (32) and at the stamp (40) and which are arranged and poled so that the magnets (50) of the shortening means (32) and the magnets (52) of the stamp (40) repel one another when the stamp (40) reaches its lowered position.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009030011A DE102009030011A1 (en) | 2009-06-23 | 2009-06-23 | product gripper |
PCT/EP2010/003076 WO2010149254A1 (en) | 2009-06-23 | 2010-05-19 | Product gripper |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2421681A1 EP2421681A1 (en) | 2012-02-29 |
EP2421681B1 true EP2421681B1 (en) | 2013-07-10 |
Family
ID=42401667
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10721331.6A Active EP2421681B1 (en) | 2009-06-23 | 2010-05-19 | Product gripper |
Country Status (4)
Country | Link |
---|---|
US (1) | US20120161459A1 (en) |
EP (1) | EP2421681B1 (en) |
DE (1) | DE102009030011A1 (en) |
WO (1) | WO2010149254A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105883401A (en) * | 2016-06-20 | 2016-08-24 | 苏州博众精工科技有限公司 | Gripping device suitable for products of different thicknesses |
CN109573450A (en) * | 2019-01-02 | 2019-04-05 | 深圳市高捷力科技有限公司 | A kind of motor tooling fixture |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
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CN103569666A (en) * | 2012-08-07 | 2014-02-12 | 苏州昆拓热控系统股份有限公司 | Finished product gripping device on automated production line |
JP6327464B2 (en) * | 2014-07-18 | 2018-05-23 | 清水建設株式会社 | Steel member lifting assist device |
DE102016108212A1 (en) * | 2016-05-03 | 2017-11-09 | Weber Maschinenbau Gmbh Breidenbach | Transfer device, in particular as a robot gripper |
JP6480905B2 (en) * | 2016-12-26 | 2019-03-13 | ファナック株式会社 | Robot hand |
DK3562631T3 (en) * | 2016-12-30 | 2024-01-29 | Marel As | GRIPPER DEVICE AND METHOD FOR PICKING UP AND REPOSITIONING AN OBJECT CARRIED BY A SUPPORT SURFACE |
DE102018007205A1 (en) * | 2018-09-12 | 2020-03-12 | Sasit Industrietechnik Gmbh | Single box gripper system |
DE102018222397A1 (en) * | 2018-12-20 | 2020-06-25 | Multivac Sepp Haggenmüller Se & Co. Kg | Packaging machine with lower gripper |
US11773885B2 (en) * | 2020-12-29 | 2023-10-03 | United Parcel Service Of America, Inc. | Automatic release clamp |
CN113771080B (en) * | 2021-11-09 | 2022-02-08 | 杭州骏沃机电科技有限公司 | Manipulator with lifting mechanism |
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US4303269A (en) * | 1979-12-10 | 1981-12-01 | Douglas Faughnan | Lifting and material handling apparatus |
US4599037A (en) * | 1984-07-02 | 1986-07-08 | United Technologies Corporation | Method and apparatus for manipulating miniature parts |
GB8924222D0 (en) * | 1989-10-27 | 1989-12-13 | Squires Michael | Load handling apparatus |
IL121190A0 (en) * | 1997-06-29 | 1997-11-20 | Goldstein Yehiel | Fillet packager |
DE19847932A1 (en) * | 1998-10-19 | 2000-04-20 | Lemo Maschb Gmbh | Device for transporting stackable packs of bags, in particular plastic bags with a bottom fold |
JP4224936B2 (en) * | 2000-09-28 | 2009-02-18 | 株式会社明電舎 | Robot hand |
PL1685045T5 (en) * | 2003-10-28 | 2015-05-29 | Aew Delford Systems Ltd | Improved pick and place gripper |
US7611181B2 (en) * | 2005-11-18 | 2009-11-03 | Fps Food Processing Systems B.V. | Gripper head with rotatable gripper blades and anti-slant provision |
GB0603002D0 (en) * | 2006-02-15 | 2006-03-29 | Aew Delford Group Ltd | Improved pick and place handling device |
DE502006002078D1 (en) * | 2006-08-01 | 2008-12-24 | Handtmann Albert Maschf | Device and method for transporting and grasping objects |
GB0708571D0 (en) * | 2007-05-03 | 2007-06-13 | Aew Delford Systems Ltd | Pick and place gripper device |
US7887108B1 (en) * | 2007-08-16 | 2011-02-15 | Sage Automation, Inc. | Adjustable tine clamp systems and methods |
US8317241B2 (en) * | 2009-02-06 | 2012-11-27 | Dean Ehnes | Harsh environment robot end effector |
DE102009012332A1 (en) * | 2009-03-09 | 2010-09-16 | Weber Maschinenbau Gmbh Breidenbach | product gripper |
US8172292B1 (en) * | 2009-11-04 | 2012-05-08 | SACMI USA, Ltd. | Arm tool for packing trays in boxes |
US20110293397A1 (en) * | 2010-05-25 | 2011-12-01 | Lomerson Jr Roland | End Effector for Picking, Forming, and Inserting U-Shaped Packing Insert |
-
2009
- 2009-06-23 DE DE102009030011A patent/DE102009030011A1/en not_active Withdrawn
-
2010
- 2010-05-19 WO PCT/EP2010/003076 patent/WO2010149254A1/en active Application Filing
- 2010-05-19 US US13/379,629 patent/US20120161459A1/en not_active Abandoned
- 2010-05-19 EP EP10721331.6A patent/EP2421681B1/en active Active
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105883401A (en) * | 2016-06-20 | 2016-08-24 | 苏州博众精工科技有限公司 | Gripping device suitable for products of different thicknesses |
CN109573450A (en) * | 2019-01-02 | 2019-04-05 | 深圳市高捷力科技有限公司 | A kind of motor tooling fixture |
Also Published As
Publication number | Publication date |
---|---|
EP2421681A1 (en) | 2012-02-29 |
DE102009030011A1 (en) | 2010-12-30 |
US20120161459A1 (en) | 2012-06-28 |
WO2010149254A1 (en) | 2010-12-29 |
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